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extremely hot power steering pumps indicate pump under extreme pressure all the time and high pressure oil movement
could be faulty pressure relief valve in the pump
as to removal of the pump disconnect the oil lines and remove ant mounting bolts
for specifics then talk with a ford tractor service center

It appears it is under the AC Compressor. Both appear to share a belf for their repsective pumping activities. It should be possible to locate by tracing the hoses from the Power Steering Fluid resevoir (where you add fluid) to the devices behind pullies under the the air filtration system
Perhaps this link will be helpfulRepair Guides Power Steering Pump Removal Installation AutoZone com

first you need to remove power steering pump drive belt and fluid using a large syringe or siphon pump.then you need place drain pan under vechicle where power steering pump located,remove power steering return line and remove power steering pressure hose using a flare nut wrench,make sure drain pan catch power steering fluid. once you have the power steering pump return hose and pressure hose remove,then remove power steering pump mounting bolts then remove power steering pump.take old power steering pump and new power steering pump to machine shop or garage so they can transfer drive pulley from old power steering pump to the new pump,once you have new power steering pump ready to install be sure to buy new pressure hose o ring if equipped, you need to bleed power steering system once you have new pump in place with every thing back in place cant give you bleeding procedure you did not tell me vechicle type you working on.

POWER STEERING PUMP IS BELT DRIVEN PUMP LOCATED NEAR TOP ENGINE.LOOK FOR PUMP THAT HAS A RESERVOIR AND A CAP THAT READS POWER STEERING FLUID ONLY ALSO POWER STEERING PUMP HAS TWO POWER STEERING HOSE CONNECT TO RACK AND PINION.

the brake fluid resivoir is above the master cylinder on the firewall. so on the left side near the windshield. the power steering resivoir is closer to the front end and is distinguished by not being connected to the master cylinder..

Before servicing the vehicle refer to the precautions at the beginning of this section.

Disconnect the battery ground cable.

Remove the accessory drive belt.

Remove the alternator.

Drain and remove the radiator coolant recovery reservoir.

Position a drain pan under the power steering pump underneath the vehicle. Disconnect the hydraulic pressure and return lines and allow to drain.

Remove the idler pulley from the power steering pump support.

Remove the belt tensioner.

Remove the bracket mounting bolt located under the belt tensioner mounting.

Remove two retaining nuts from the bracket mounting studs. Remove both mounting studs, and pull off the power steering pump support with the pump attached.

Clamp the pump support bracket in a suitable vise.

Remove the power steering pump pulley from the pump shaft using Pump Pulley Remover T69L-10300-B, or equivalent. Remove the three bolts retaining the power steering pump to the power steering pump support and remove the power steering pump.

To Install:NOTE: The pulley must be installed within 0.010 in (0.25 mm) flush with the power steering pump shaft.

Install the power steering pump to the power steering pump support. Tighten the mounting bolts to 18 ft-lb. (25 Nm).

Install the power steering pump pulley using Steering Pump Pulley Replacer T65P-3A733-C, or equivalent; the pulley face must be flush within 0.010 inch (0.25mm) of the pump shaft.

Install the power steering pump/pump support and torque nuts/bolt to 24 ft. lbs. (33 Nm).

Install the bracket mounting bolt located under the belt tensioner mounting.

Install the belt tensioner.

Install the idler pulley to the power steering pump support.

Connect the hydraulic pressure and return lines.

Install the radiator coolant recovery reservoir.

Install the alternator.

Install the accessory drive belt.

Fill the power steering reservoir with power steering fluid.

Connect the battery ground cable.

Run the engine and check for leaks and proper operation. Bleed the power steering system if needed.

Before you replace the pump, check the filter located inside the oil tank. This filter cleans the oil before going to pump. REMEMBER that Audi uses a special oil!!! Not your normal power steering fluid! Mixing them could cause damage to the entire system!